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ardupilot/ArduCopter/radio.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// Function that will read the radio data, limit servos and trigger a failsafe
// ----------------------------------------------------------------------------
static void default_dead_zones()
{
g.rc_1.set_default_dead_zone(30);
g.rc_2.set_default_dead_zone(30);
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.set_default_dead_zone(10);
g.rc_4.set_default_dead_zone(15);
g.rc_8.set_default_dead_zone(10);
#else
g.rc_3.set_default_dead_zone(30);
g.rc_4.set_default_dead_zone(40);
#endif
g.rc_6.set_default_dead_zone(0);
}
static void init_rc_in()
{
// set rc channel ranges
g.rc_1.set_angle(ROLL_PITCH_INPUT_MAX);
g.rc_2.set_angle(ROLL_PITCH_INPUT_MAX);
g.rc_3.set_range(g.throttle_min, g.throttle_max);
g.rc_4.set_angle(4500);
g.rc_1.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
g.rc_2.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
g.rc_4.set_type(RC_CHANNEL_TYPE_ANGLE_RAW);
#if FRAME_CONFIG == SINGLE_FRAME
// we set four servos to angle
g.single_servo_1.set_type(RC_CHANNEL_TYPE_ANGLE);
g.single_servo_2.set_type(RC_CHANNEL_TYPE_ANGLE);
g.single_servo_3.set_type(RC_CHANNEL_TYPE_ANGLE);
g.single_servo_4.set_type(RC_CHANNEL_TYPE_ANGLE);
g.single_servo_1.set_angle(DEFAULT_ANGLE_MAX);
g.single_servo_2.set_angle(DEFAULT_ANGLE_MAX);
g.single_servo_3.set_angle(DEFAULT_ANGLE_MAX);
g.single_servo_4.set_angle(DEFAULT_ANGLE_MAX);
#endif
//set auxiliary servo ranges
g.rc_5.set_range(0,1000);
g.rc_6.set_range(0,1000);
g.rc_7.set_range(0,1000);
g.rc_8.set_range(0,1000);
// update assigned functions for auxiliary servos
aux_servos_update_fn();
// set default dead zones
default_dead_zones();
}
// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
static void init_rc_out()
{
motors.set_update_rate(g.rc_speed);
motors.set_frame_orientation(g.frame_orientation);
motors.Init(); // motor initialisation
motors.set_min_throttle(g.throttle_min);
for(uint8_t i = 0; i < 5; i++) {
delay(20);
read_radio();
}
// we want the input to be scaled correctly
g.rc_3.set_range_out(0,1000);
// full throttle means to enter ESC calibration
if(g.rc_3.control_in >= (g.throttle_max - 50)) {
if(g.esc_calibrate == 0) {
// we will enter esc_calibrate mode on next reboot
g.esc_calibrate.set_and_save(1);
// display message on console
cliSerial->printf_P(PSTR("Entering ESC Calibration: please restart APM.\n"));
// turn on esc calibration notification
AP_Notify::flags.esc_calibration = true;
// block until we restart
while(1) { delay(5); }
}else{
cliSerial->printf_P(PSTR("ESC Calibration active: passing throttle through to ESCs.\n"));
// clear esc flag
g.esc_calibrate.set_and_save(0);
// pass through user throttle to escs
init_esc();
}
}else{
// did we abort the calibration?
if(g.esc_calibrate == 1)
g.esc_calibrate.set_and_save(0);
}
// enable output to motors
pre_arm_rc_checks();
if (ap.pre_arm_rc_check) {
output_min();
}
}
// output_min - enable and output lowest possible value to motors
void output_min()
{
// enable motors
motors.enable();
motors.output_min();
}
#define FAILSAFE_RADIO_TIMEOUT_MS 2000 // 2 seconds
static void read_radio()
{
static uint32_t last_update = 0;
if (hal.rcin->valid_channels() > 0) {
last_update = millis();
ap.new_radio_frame = true;
uint16_t periods[8];
hal.rcin->read(periods,8);
g.rc_1.set_pwm(periods[rcmap.roll()-1]);
g.rc_2.set_pwm(periods[rcmap.pitch()-1]);
set_throttle_and_failsafe(periods[rcmap.throttle()-1]);
g.rc_4.set_pwm(periods[rcmap.yaw()-1]);
g.rc_5.set_pwm(periods[4]);
g.rc_6.set_pwm(periods[5]);
g.rc_7.set_pwm(periods[6]);
g.rc_8.set_pwm(periods[7]);
// flag we must have an rc receiver attached
if (!failsafe.rc_override_active) {
ap.rc_receiver_present = true;
}
}else{
uint32_t elapsed = millis() - last_update;
// turn on throttle failsafe if no update from ppm encoder for 2 seconds
if ((elapsed >= FAILSAFE_RADIO_TIMEOUT_MS)
&& g.failsafe_throttle && motors.armed() && !failsafe.radio) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true);
}
}
}
#define FS_COUNTER 3 // radio failsafe kicks in after 3 consecutive throttle values below failsafe_throttle_value
static void set_throttle_and_failsafe(uint16_t throttle_pwm)
{
// if failsafe not enabled pass through throttle and exit
if(g.failsafe_throttle == FS_THR_DISABLED) {
g.rc_3.set_pwm(throttle_pwm);
return;
}
//check for low throttle value
if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
// if we are already in failsafe or motors not armed pass through throttle and exit
if (failsafe.radio || !motors.armed()) {
g.rc_3.set_pwm(throttle_pwm);
return;
}
// check for 3 low throttle values
// Note: we do not pass through the low throttle until 3 low throttle values are recieved
failsafe.radio_counter++;
if( failsafe.radio_counter >= FS_COUNTER ) {
failsafe.radio_counter = FS_COUNTER; // check to ensure we don't overflow the counter
set_failsafe_radio(true);
g.rc_3.set_pwm(throttle_pwm); // pass through failsafe throttle
}
}else{
// we have a good throttle so reduce failsafe counter
failsafe.radio_counter--;
if( failsafe.radio_counter <= 0 ) {
failsafe.radio_counter = 0; // check to ensure we don't underflow the counter
// disengage failsafe after three (nearly) consecutive valid throttle values
if (failsafe.radio) {
set_failsafe_radio(false);
}
}
// pass through throttle
g.rc_3.set_pwm(throttle_pwm);
}
}
// aux_servos_update - update auxiliary servos assigned functions in case the user has changed them
void aux_servos_update_fn()
{
// Quads can use RC5 and higher as auxiliary channels
#if (FRAME_CONFIG == QUAD_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else // APM1, APM2, SITL
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
// Tri's and Singles can use RC5, RC6, RC8 and higher
#elif (FRAME_CONFIG == TRI_FRAME || FRAME_CONFIG == SINGLE_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else // APM1, APM2, SITL
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
// Hexa and Y6 can use RC7 and higher
#elif (FRAME_CONFIG == HEXA_FRAME || FRAME_CONFIG == Y6_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else
update_aux_servo_function(&g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
#endif
// Octa and X8 can use RC9 and higher
#elif (FRAME_CONFIG == OCTA_FRAME || FRAME_CONFIG == OCTA_QUAD_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else
update_aux_servo_function(&g.rc_10, &g.rc_11);
#endif
// Heli's can use RC5, RC6, RC7, not RC8, and higher
#elif (FRAME_CONFIG == HELI_FRAME)
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_9, &g.rc_10, &g.rc_11, &g.rc_12);
#else // APM1, APM2, SITL
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_10, &g.rc_11);
#endif
// throw compile error if frame type is unrecognise
#else
#error Unrecognised frame type
#endif
}
static void trim_radio()
{
for (uint8_t i = 0; i < 30; i++) {
read_radio();
}
g.rc_1.trim(); // roll
g.rc_2.trim(); // pitch
g.rc_4.trim(); // yaw
g.rc_1.save_eeprom();
g.rc_2.save_eeprom();
g.rc_4.save_eeprom();
}
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